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keyboard out of the dual_arm_control lib
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6 files changed

+376
-302
lines changed

6 files changed

+376
-302
lines changed

dual_arm_control/CMakeLists.txt

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@@ -44,7 +44,6 @@ set(H_FILES
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set(TOOLS_FILE
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${HEADERS_FOLDER}/tools/Utils.hpp
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${HEADERS_FOLDER}/tools/PdfGMR.hpp
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${HEADERS_FOLDER}/tools/Keyboard.h
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${HEADERS_FOLDER}/tools/KalmanFilter3DVelFromPosEstimator.hpp
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${HEADERS_FOLDER}/tools/KalmanFilter.hpp
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${HEADERS_FOLDER}/tools/FirstOrderFilter.hpp

dual_arm_control/include/dual_arm_control_iam/DualArmControlSim.hpp

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@@ -53,7 +53,6 @@
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#include "dual_arm_control_iam/ThrowingDS.hpp"
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#include "dual_arm_control_iam/TossTaskParamEstimator.hpp"
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#include "dual_arm_control_iam/TossingTarget.hpp"
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#include "dual_arm_control_iam/tools/Keyboard.h"
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#include "dual_arm_control_iam/tools/Utils.hpp"
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#define NB_ROBOTS 2 // Number of robots
@@ -80,6 +79,23 @@ struct CommandStruct {
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float nuWr0;
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};
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struct StateMachine {
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bool goHome;
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bool goToAttractors;
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bool isThrowing;
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bool isPlacing;
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bool isPlaceTossing;
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bool isDisturbTarget;
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bool releaseAndretract;
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int dualTaskSelector;
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float desVtoss;
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float desiredVelImp;
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float placingPosHeight;
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float releasePosY;
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bool startlogging;
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};
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struct SphericalPosition {
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float r;
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float theta;
@@ -351,7 +367,8 @@ class DualArmControlSim {
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double getPeriod();
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// ---- Keyboard commands
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void updateStatesMachines();
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void keyboardVirtualObjectControl();
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void keyboardReferenceObjectControl();
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StateMachine getStateMachine();
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void updateStateMachine(StateMachine stateMachine);
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};

dual_arm_control/include/dual_arm_control_iam/tools/Keyboard.h

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